# Docker Compose configuration for Gazebo MCP Server
#
# Provides multi-container setup with:
# - Gazebo simulation
# - MCP server
# - ROS2 networking
#
# Usage:
# docker-compose up # Start all services
# docker-compose up -d # Start in background
# docker-compose down # Stop all services
# docker-compose logs -f mcp_server # View logs
version: '3.8'
services:
# ============================================================================
# Gazebo Simulation Service
# ============================================================================
gazebo:
image: osrf/ros:humble-desktop-full
container_name: gazebo_sim
restart: unless-stopped
# Display forwarding for GUI:
environment:
- DISPLAY=${DISPLAY:-:0}
- QT_X11_NO_MITSHM=1
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
- GAZEBO_MODEL_PATH=/workspace/models
volumes:
# X11 socket for display:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
# Shared models directory:
- ./models:/workspace/models:ro
# Shared worlds directory:
- ./worlds:/workspace/worlds:ro
# Start Gazebo:
command: >
bash -c "
source /opt/ros/humble/setup.bash &&
ros2 launch gazebo_ros gazebo.launch.py
"
networks:
- ros2_network
# Health check:
healthcheck:
test: ["CMD", "ros2", "service", "list", "|", "grep", "gazebo"]
interval: 30s
timeout: 10s
retries: 3
start_period: 10s
# ============================================================================
# MCP Server Service
# ============================================================================
mcp_server:
build:
context: .
dockerfile: Dockerfile
target: production
args:
ROS_DISTRO: humble
container_name: gazebo_mcp_server
restart: unless-stopped
# Depend on Gazebo:
depends_on:
gazebo:
condition: service_healthy
environment:
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
- PYTHONUNBUFFERED=1
- LOG_LEVEL=${LOG_LEVEL:-INFO}
volumes:
# Mount source for development:
- ./src:/workspace/ros2_gazebo_mcp/src:ro
- ./mcp:/workspace/ros2_gazebo_mcp/mcp:ro
# Logs directory:
- ./logs:/workspace/ros2_gazebo_mcp/logs:rw
# Metrics export:
- ./metrics:/workspace/ros2_gazebo_mcp/metrics:rw
# Run MCP server:
command: python3 -m mcp.server.server
networks:
- ros2_network
# Health check:
healthcheck:
test: ["CMD", "python3", "-c", "from mcp.server.server import GazeboMCPServer; GazeboMCPServer()"]
interval: 30s
timeout: 10s
retries: 3
start_period: 5s
# Logging configuration:
logging:
driver: "json-file"
options:
max-size: "10m"
max-file: "3"
# ============================================================================
# Metrics Exporter Service (optional)
# ============================================================================
metrics_exporter:
build:
context: .
dockerfile: Dockerfile
target: production
container_name: gazebo_mcp_metrics
restart: unless-stopped
profiles:
- monitoring
depends_on:
- mcp_server
environment:
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
volumes:
- ./metrics:/workspace/ros2_gazebo_mcp/metrics:rw
# Export metrics periodically:
command: >
bash -c "
while true; do
sleep 60;
python3 scripts/show_metrics.py --export /workspace/ros2_gazebo_mcp/metrics/metrics.prom --format prometheus;
done
"
networks:
- ros2_network
# ============================================================================
# Development Container (optional)
# ============================================================================
dev:
build:
context: .
dockerfile: Dockerfile
target: dev
container_name: gazebo_mcp_dev
profiles:
- development
depends_on:
- gazebo
environment:
- DISPLAY=${DISPLAY:-:0}
- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
- PYTHONUNBUFFERED=1
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
# Mount source as read-write for development:
- ./src:/workspace/ros2_gazebo_mcp/src:rw
- ./mcp:/workspace/ros2_gazebo_mcp/mcp:rw
- ./tests:/workspace/ros2_gazebo_mcp/tests:rw
- ./examples:/workspace/ros2_gazebo_mcp/examples:rw
# Interactive shell:
stdin_open: true
tty: true
command: /bin/bash
networks:
- ros2_network
# ============================================================================
# Networks
# ============================================================================
networks:
ros2_network:
driver: bridge
ipam:
config:
- subnet: 172.20.0.0/16
# ============================================================================
# Volumes (optional persistent storage)
# ============================================================================
volumes:
gazebo_models:
driver: local
mcp_logs:
driver: local
mcp_metrics:
driver: local
# ============================================================================
# Usage Examples:
# ============================================================================
#
# 1. Start all services:
# docker-compose up
#
# 2. Start in background:
# docker-compose up -d
#
# 3. Start with monitoring:
# docker-compose --profile monitoring up
#
# 4. Start development environment:
# docker-compose --profile development up dev
#
# 5. View logs:
# docker-compose logs -f mcp_server
#
# 6. Stop all services:
# docker-compose down
#
# 7. Rebuild containers:
# docker-compose build
#
# 8. Run examples:
# docker-compose exec mcp_server python3 examples/01_basic_connection.py
#
# 9. Show metrics:
# docker-compose exec mcp_server python3 scripts/show_metrics.py
#
# 10. Interactive development:
# docker-compose --profile development run --rm dev
